function plotBox(corner, side, theta)
%PLOTBOX Summary of this function goes here
%   Detailed explanation goes here
    corner = reshape(corner, 2, 1);
    side = reshape(side, 2, 1);
    Tr = [cos(theta) -sin(theta); 
        sin(theta) cos(theta)];
    x = [0 1 1 0 0;
        0 0 1 1 0];
    x = Tr * (x .* side) + corner;
    plot(x(1,:), x(2,:), 'k-', 'LineWidth', 2);
end

